Changes to allow the commander module to be built and run on Qurt (#21186)

* Changed exclusion to rely on the definition of PX4_STORAGEDIR

boards/modalai/voxl2-slpi/default.px4board

@@ -12,6 +12,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_COMMANDER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y

platforms/common/include/px4_platform_common/defines.h

@@ -99,7 +99,10 @@ __END_DECLS
 
 #define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
 
+// Qurt doesn't have an SD card for storage
+#ifndef __PX4_QURT
 #define PX4_STORAGEDIR PX4_ROOTFSDIR
+#endif
 
 /****************************************************************************
  * Defines for POSIX and ROS

platforms/qurt/src/px4/tasks.cpp

@@ -166,11 +166,12 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
 				return -1;
 
 			} else {
-				//px4_clock_gettimemap[task_index].argv_storage[i], argv[i]);
+				strcpy(taskmap[task_index].argv_storage[i], argv[i]);
 				taskmap[task_index].argv[i] = taskmap[task_index].argv_storage[i];
 			}
 
 		} else {
+			// Must add NULL at end of argv
 			taskmap[task_index].argv[i] = nullptr;
 			break;
 		}
@@ -420,13 +421,13 @@ int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
 	return 0;
 }
 
-int px4_prctl(int option, const char *arg2, pthread_t pid)
+int px4_prctl(int option, const char *arg2, px4_task_t pid)
 {
 	int rv = -1;
 	pthread_mutex_lock(&task_mutex);
 
 	for (int i = 0; i < PX4_MAX_TASKS; i++) {
-		if (taskmap[i].isused && taskmap[i].tid == pid) {
+		if (taskmap[i].isused && taskmap[i].tid == (pthread_t) pid) {
 			rv = pthread_attr_setthreadname(&taskmap[i].attr, arg2);
 			return rv;
 		}

src/drivers/qshell/qurt/qshell.cpp

@@ -50,7 +50,7 @@
 #include <uORB/topics/qshell_retval.h>
 #include <drivers/drv_hrt.h>
 
-#define MAX_ARGS 8 // max number of whitespace separated args after app name
+#define MAX_ARGS 16 // max number of whitespace separated args after app name
 
 px4::AppState QShell::appState;
 

src/modules/commander/Commander.hpp

@@ -231,8 +231,10 @@ private:
 	hrt_abstime _last_disarmed_timestamp{0};
 	hrt_abstime _overload_start{0};		///< time when CPU overload started
 
-	hrt_abstime _led_armed_state_toggle{0};
+#if !defined(CONFIG_ARCH_LEDS) && defined(BOARD_HAS_CONTROL_STATUS_LEDS)
-	hrt_abstime _led_overload_toggle{0};
+	hrt_abstime _led_armed_state_toggle {0};
+#endif
+	hrt_abstime _led_overload_toggle {0};
 
 	hrt_abstime _last_health_and_arming_check{0};
 

src/modules/commander/HealthAndArmingChecks/Common.hpp

@@ -40,6 +40,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/failsafe_flags.h>
 #include <systemlib/mavlink_log.h>
+#include <drivers/drv_hrt.h>
 
 #include <stdint.h>
 #include <limits.h>

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp

@@ -68,7 +68,6 @@
 #include "checks/vtolCheck.hpp"
 #include "checks/offboardCheck.hpp"
 
-
 class HealthAndArmingChecks : public ModuleParams
 {
 public:

src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp

@@ -38,12 +38,14 @@
 #ifdef __PX4_DARWIN
 #include <sys/param.h>
 #include <sys/mount.h>
-#else
+#elif defined(PX4_STORAGEDIR)
 #include <sys/statfs.h>
 #endif
 
 void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
 {
+#ifdef PX4_STORAGEDIR
+
 	if (_param_com_arm_sdcard.get() > 0) {
 
 		struct statfs statfs_buf;
@@ -125,4 +127,5 @@ void SdCardChecks::checkAndReport(const Context &context, Report &reporter)
 	}
 
 #endif /* __PX4_NUTTX */
+#endif /* PX4_STORAGEDIR */
 }

src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.hpp

@@ -44,11 +44,13 @@ public:
 	void checkAndReport(const Context &context, Report &reporter) override;
 
 private:
-	bool _sdcard_detected{false};
+#ifdef PX4_STORAGEDIR
+	bool _sdcard_detected {false};
 
 #ifdef __PX4_NUTTX
 	bool _hardfault_checked_once {false};
-	bool _hardfault_file_present{false};
+	bool _hardfault_file_present {false};
+#endif
 #endif
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,